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Add the subscribe mechanism to the capnp session
The subscribe mechanism is based on the capnp stream model. This means that the client creates for each subscription a server that is passed to the kernel. The kernel than calls a specific function on that value for each value change. In this api the received value updates are stored in a async queue. To disconnect a connection the created server would need to be closed. In python this is not so easy due to the hidden reference counting. Therefore a subscription needs to be canceled manually through a disconnect call in the async queue.
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